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「自」能醫(yī)療微型機(jī)械人群起如蜂

指南者留學(xué) 2022-06-23 14:55:17 閱讀量：1253

<div data-page-id="doxcnlLQoVkcvTmbjWD4K4q1mnj" data-docx-has-block-data="true"> <div class="ace-line ace-line old-record-id-doxcn2W0gkku2ygKiI7TTz0f1Wd" style="text-align: justify;"><span class="p"><img src="https://info.compassedu.hk/sucai/content/1657867699350/1657867699350.png" width="807" height="526" /></span></div> <div class="ace-line ace-line old-record-id-doxcn2W0gkku2ygKiI7TTz0f1Wd" style="text-align: justify;"> </div> <div class="ace-line ace-line old-record-id-doxcn2W0gkku2ygKiI7TTz0f1Wd" style="text-align: justify;"><span class="p">在自然界，不難看見動(dòng)物結(jié)隊(duì)躲避天敵或捕食獵物的集群行為，猶如有指揮官在背后發(fā)放指令。香港中文大學(xué)機(jī)械與自動(dòng)化工程學(xué)系<strong>張立教授</strong>的團(tuán)隊(duì)多年來(lái)一直致力研發(fā)醫(yī)療微型機(jī)械人，受此啟發(fā)，他聯(lián)同計(jì)算機(jī)科學(xué)與工程學(xué)系<strong>竇琪教授</strong>合作研發(fā)了一套微型機(jī)械人集群自動(dòng)導(dǎo)航系統(tǒng)技術(shù)，結(jié)合人工智能，讓機(jī)械人擁有自主導(dǎo)航能力。它更會(huì)如蜜蜂般成群結(jié)隊(duì)工作，并因應(yīng)體內(nèi)環(huán)境自動(dòng)改變隊(duì)形，于人體內(nèi)游走進(jìn)行針對(duì)性的治療。</span></div> <div class="ace-line ace-line old-record-id-doxcn4OkaoGQW2egkqiwfJWl3wh" style="text-align: justify;"><span class="p"> </span></div> <div class="ace-line ace-line old-record-id-doxcnEcKMs2Ki0WqWcTa5acf4Sf" style="text-align: justify;"><span class="p">現(xiàn)時(shí)微型機(jī)械人大多以個(gè)體模式行動(dòng)，優(yōu)點(diǎn)是體積細(xì)小，但容量有限，每次只能輸送有限藥物，要運(yùn)載更多的份量，只有增加機(jī)械人的數(shù)量。但另一問(wèn)題是人體內(nèi)盡是蜿蜒曲折的腔道、流動(dòng)的液體，很難實(shí)時(shí)控制成千上萬(wàn)個(gè)機(jī)械人同步執(zhí)行任務(wù)。縱使可以利用外部磁場(chǎng)引領(lǐng)機(jī)械人，或以硬件作實(shí)時(shí)導(dǎo)航及定位配合來(lái)控制機(jī)械人的行動(dòng)，但都難免出現(xiàn)機(jī)械人失誤或不受控的情況。</span></div> <div class="ace-line ace-line old-record-id-doxcnEEg84c2YoaeE0OlK69mgEh" style="text-align: justify;"><span class="p"> </span></div> <h2 class="heading-2 ace-line old-record-id-doxcn0kyGcCEo0Yg2QrCS4ZI5tf" style="text-align: justify;"><span class="p"><strong>人工智能系統(tǒng)發(fā)號(hào)施令</strong></span></h2> <div class="ace-line ace-line old-record-id-doxcnAIiWQSsQyu0y4U9MfROlWe" style="text-align: justify;"><span class="p"> </span></div> <div class="ace-line ace-line old-record-id-doxcnWCykU8OQiqEEGeky19fB5c" style="text-align: justify;"><span class="p">為了增加微型機(jī)械人集群的智力穩(wěn)定地執(zhí)行任務(wù)，研究團(tuán)隊(duì)結(jié)合過(guò)去多年研究微型機(jī)械人的經(jīng)驗(yàn)，利用深度學(xué)習(xí)技術(shù)，建立一套人工智能微型機(jī)械人操控系統(tǒng)，增加機(jī)械人的自主運(yùn)算及決策能力。張教授表示：「我們集結(jié)了專業(yè)人員操作機(jī)械人的經(jīng)驗(yàn)及知識(shí)去訓(xùn)練智能系統(tǒng)，賦予微型機(jī)械人集群的自主巡航能力，以助減少任務(wù)失誤的機(jī)會(huì)。」</span></div> <div class="ace-line ace-line old-record-id-doxcnWCykU8OQiqEEGeky19fB5c" style="text-align: justify;"> </div> <div class="image-uploaded gallery old-record-id-doxcnSS2ymSSmg6yMC6yzvtbP8d" style="text-align: justify;" data-type="image" data-ace-gallery-json="{"items":[{"uuid":"e1e3d88c-39eb-4b74-8439-8dac961a0e8e","height":736,"width":719,"currHeight":736,"currWidth":719,"natrualHeight":736,"natrualWidth":719,"pluginName":"imageUpload","scale":1,"src":"https%3A%2F%2Finternal-api-drive-stream.feishu.cn%2Fspace%2Fapi%2Fbox%2Fstream%2Fdownload%2Fall%2FboxcnLrJaeRVfriQ11wJ34whSId%2F%3Fmount_node_token%3DdoxcnSS2ymSSmg6yMC6yzvtbP8d%26mount_point%3Ddocx_image","file_token":"boxcnLrJaeRVfriQ11wJ34whSId","image_type":"image/png","size":359971,"comments":[]}]}"><span class="p"><img src="https://info.compassedu.hk/sucai/content/1657867709911/1657867709911.png" width="719" height="736" /></span></div> <div class="ace-line ace-line old-record-id-doxcnmEMWge0umi2W4S2sBcGDld" style="text-align: justify;"> </div> <div class="ace-line ace-line old-record-id-doxcnmEMWge0umi2W4S2sBcGDld" style="text-align: justify;"><span class="p">微型機(jī)械人集群有五個(gè)級(jí)別的自主程度，由0級(jí)至4級(jí); 0代表手動(dòng)控制、4代表完全自主。圖中紅色標(biāo)志為需要人手輸入設(shè)定的參數(shù)項(xiàng)目; 綠色代表參數(shù)項(xiàng)目已達(dá)到自動(dòng)化，由人工智能電腦運(yùn)算控制。</span></div> <div class="ace-line ace-line old-record-id-doxcnUsCGywmcssKUaiY58sut0f" style="text-align: justify;"><span class="p"> </span></div> <div class="ace-line ace-line old-record-id-doxcnyUGCqgWUWqEMOiNg9v5RKK" style="text-align: justify;"><span class="p">團(tuán)隊(duì)設(shè)計(jì)的自動(dòng)導(dǎo)航系統(tǒng)/深度學(xué)習(xí)系統(tǒng)Deep Neural Networks （DNN）可以按體內(nèi)環(huán)境實(shí)時(shí)運(yùn)算出機(jī)械人的分布、移動(dòng)軌跡、磁場(chǎng)、機(jī)械人群體的中心點(diǎn)及目標(biāo)位置等參數(shù)，讓微機(jī)械人懂得因應(yīng)不同環(huán)境而適時(shí)調(diào)整集群行動(dòng)，按照精準(zhǔn)的計(jì)劃路線完成任務(wù)。團(tuán)隊(duì)亦按照人體內(nèi)不同情境設(shè)定，如靜態(tài)或動(dòng)態(tài)環(huán)境，將微機(jī)械人的自主程度分成五個(gè)級(jí)別; 級(jí)別愈高，要求手動(dòng)控制的部分愈少。操作人員可按需要及實(shí)際情境選擇機(jī)械人的自主模式。</span></div> <div class="ace-line ace-line old-record-id-doxcnIOway0WO0QqEs1EatnMpOe" style="text-align: justify;"><span class="p"> </span></div> <div class="ace-line ace-line old-record-id-doxcnuEsyGYAYGMQCgbLz2DKuqf" style="text-align: justify;"><span class="p">級(jí)別0類近現(xiàn)時(shí)大多數(shù)微型機(jī)械人的操作方式，機(jī)械人集群全以人手導(dǎo)航，操作人員必須接受充足的訓(xùn)練，了解機(jī)械人的物理狀態(tài)，以及熟悉系統(tǒng)的操作。硬件上，亦需全程以光學(xué)顯微鏡等成像工具實(shí)時(shí)監(jiān)察機(jī)械人的行動(dòng)，同步計(jì)劃及控制它們的集群形態(tài)、路線與目標(biāo)位置等，避免機(jī)械人碰上障礙物。不過(guò)，人手操作容易存在誤差，控制不良或會(huì)令微機(jī)械人集群偏離航道或分裂。</span></div> <div class="ace-line ace-line old-record-id-doxcnWKMYEIo0sS88iuctzohSLh" style="text-align: justify;"><span class="p"> </span></div> <div class="ace-line ace-line old-record-id-doxcneU60oyCIuYUGeSxDx8St9C" style="text-align: justify;"><span class="p">級(jí)別4的機(jī)械人集群可以做到全自主狀態(tài)，能在復(fù)雜多變的動(dòng)態(tài)環(huán)境中執(zhí)行醫(yī)療任務(wù)。例如任務(wù)是將標(biāo)靶藥物輸送到病灶，系統(tǒng)會(huì)自動(dòng)及實(shí)時(shí)搜尋目標(biāo)位置、規(guī)劃航道及機(jī)械人的集群形態(tài)，直至完成任務(wù)。如感應(yīng)到前方有障礙物，也能迅速重新規(guī)劃航道，過(guò)程中無(wú)須人手介入，能減省訓(xùn)練專業(yè)操作員的成本。</span></div> <div class="ace-line ace-line old-record-id-doxcneU60oyCIuYUGeSxDx8St9C" style="text-align: justify;"> </div> <div class="image-uploaded gallery old-record-id-doxcn4GMISaa6kUksqI18HFVYUh" style="text-align: justify;" data-type="image" data-ace-gallery-json="{"items":[{"uuid":"469edbe1-3f73-4553-88a6-e8136870b7dd","height":768,"width":1024,"currHeight":768,"currWidth":1024,"natrualHeight":768,"natrualWidth":1024,"pluginName":"imageUpload","scale":1,"src":"https%3A%2F%2Finternal-api-drive-stream.feishu.cn%2Fspace%2Fapi%2Fbox%2Fstream%2Fdownload%2Fall%2Fboxcnhw9JjdKkk5owD5xkZK5zIL%2F%3Fmount_node_token%3Ddoxcn4GMISaa6kUksqI18HFVYUh%26mount_point%3Ddocx_image","file_token":"boxcnhw9JjdKkk5owD5xkZK5zIL","image_type":"image/jpeg","size":118993,"comments":[]}]}"><span class="p"><img src="https://info.compassedu.hk/sucai/content/1657867717398/1657867717398.png" width="807" height="605" /></span></div> <div class="ace-line ace-line old-record-id-doxcneeAmME6YsEuecOYPpAJoEQ" style="text-align: justify;"> </div> <div class="ace-line ace-line old-record-id-doxcneeAmME6YsEuecOYPpAJoEQ" style="text-align: justify;"><span class="p">人類胎盤實(shí)驗(yàn)于InnoHK（創(chuàng)新香港研發(fā)平臺(tái)），位于香港科學(xué)園的醫(yī)療機(jī)械人創(chuàng)新技術(shù)中心進(jìn)行。實(shí)驗(yàn)平臺(tái)設(shè)有C-arm X光螢光鏡等成像工具作為機(jī)械人的「眼睛」，以偵測(cè)障礙物，作實(shí)時(shí)方向調(diào)整及導(dǎo)航。</span></div> <div class="ace-line ace-line old-record-id-doxcnyM8AggGu8yS68FgrXqSkxh" style="text-align: justify;"><span class="p"> </span></div> <div class="ace-line ace-line old-record-id-doxcnGKcikEU4GC6OO04GfZCGNf" style="text-align: justify;"><span class="p">為了測(cè)試微型機(jī)械人集群在人工智能導(dǎo)航系統(tǒng)下的運(yùn)作情況，研究團(tuán)隊(duì)與韋爾斯親王醫(yī)院合作在人類胎盤樣本進(jìn)行體外實(shí)驗(yàn)，結(jié)果顯示導(dǎo)航系統(tǒng)能有效在血管這類復(fù)雜的體內(nèi)動(dòng)態(tài)環(huán)境和微小且曲折的渠道內(nèi)為機(jī)械人集群導(dǎo)航。</span></div> <div class="ace-line ace-line old-record-id-doxcnoaGyw6QAy8eQsZDe7KRyRf" style="text-align: justify;"><span class="p"> </span></div> <div class="ace-line ace-line old-record-id-doxcnC2wqoK6S4AoqCss9LJTeMd" style="text-align: justify;"><span class="p">張教授期望：「隨著自動(dòng)導(dǎo)航系統(tǒng)技術(shù)的發(fā)展愈趨成熟，我們希望此人工智能控制系統(tǒng)可讓醫(yī)生在無(wú)需接受特別操作培訓(xùn)下，利用微型機(jī)械人集群為病人進(jìn)行無(wú)創(chuàng)或微創(chuàng)治療，特別是在深入體內(nèi)的曲折狹小腔體內(nèi)?！?lt;/span></div> <div class="ace-line ace-line old-record-id-doxcnkGe0oWK6y0A6amCpKfXgUc" style="text-align: justify;"><span class="p"> </span></div> <h2 class="heading-2 ace-line old-record-id-doxcnGSWMOgmkgAgycFx0bYkmIe" style="text-align: justify;"><span class="p"><strong>自主組成不同隊(duì)形</strong></span></h2> <div class="ace-line ace-line old-record-id-doxcnoOsemYeWMsY4Yfaddpcvjg" style="text-align: justify;"><span class="p"> </span></div> <div class="image-uploaded gallery old-record-id-doxcnG2eW6OE8cUECeSvS51DACg" style="text-align: justify;" data-type="image" data-ace-gallery-json="{"items":[{"uuid":"c6fea3fd-9497-4d39-a58e-3bc3a1b0a087","height":668,"width":1024,"currHeight":668,"currWidth":1024,"natrualHeight":668,"natrualWidth":1024,"pluginName":"imageUpload","scale":1,"src":"https%3A%2F%2Finternal-api-drive-stream.feishu.cn%2Fspace%2Fapi%2Fbox%2Fstream%2Fdownload%2Fall%2FboxcnA5Iqj3cLcxSN4DfSXppCZe%2F%3Fmount_node_token%3DdoxcnG2eW6OE8cUECeSvS51DACg%26mount_point%3Ddocx_image","file_token":"boxcnA5Iqj3cLcxSN4DfSXppCZe","image_type":"image/jpeg","size":90815,"comments":[]}]}"><span class="p"><img src="https://info.compassedu.hk/sucai/content/1657867723806/1657867723806.png" width="807" height="526" /></span></div> <div class="ace-line ace-line old-record-id-doxcnYKkqwmsm8AUISiXaHsWplf" style="text-align: justify;"> </div> <div class="ace-line ace-line old-record-id-doxcnYKkqwmsm8AUISiXaHsWplf" style="text-align: justify;"><span class="p">系統(tǒng)會(huì)控制微型機(jī)械人轉(zhuǎn)換不同集群形態(tài)，以便在不規(guī)則的環(huán)境中游走。</span></div> <div class="ace-line ace-line old-record-id-doxcn0yiyiewqmSmqKsmN94ZKtf" style="text-align: justify;"><span class="p"> </span></div> <div class="ace-line ace-line old-record-id-doxcnmgAgGwSwkUWCYBJheoVezb" style="text-align: justify;"><span class="p">微型機(jī)械人由磁性納米粒子組成，直徑只有400納米，相等于約千分之五條頭發(fā)直徑的尺度。系統(tǒng)可以利用指定磁場(chǎng)引導(dǎo)一大群機(jī)械人轉(zhuǎn)換成三種不同的集群形態(tài)，包括擴(kuò)散群（spreading swarm，SS）、帶狀群（ribbon-like swarm，RS）及渦狀群（vortex-like swarm，VS），以執(zhí)行不同任務(wù)，包括于目標(biāo)位置進(jìn)行靶向治療、藥物輸送等。團(tuán)隊(duì)期望這種結(jié)合人工智能的導(dǎo)航技術(shù)，日后能應(yīng)用于治療大腦缺血性中風(fēng)等血管性系統(tǒng)疾病，并且比現(xiàn)有標(biāo)靶藥更精準(zhǔn)地運(yùn)送藥物到癌細(xì)胞。</span></div> <div class="ace-line ace-line old-record-id-doxcnskKIsU2kSEYUIX4XeDqPNb" style="text-align: justify;"><span class="p"> </span></div> <div class="image-uploaded gallery old-record-id-doxcnQqIA6EKiYAk2EhqfL2gTKd" style="text-align: justify;" data-type="image" data-ace-gallery-json="{"items":[{"uuid":"f6a7f480-8d71-4f19-b8d6-78fb7c2bc737","height":767,"width":1024,"currHeight":767,"currWidth":1024,"natrualHeight":767,"natrualWidth":1024,"pluginName":"imageUpload","scale":1,"src":"https%3A%2F%2Finternal-api-drive-stream.feishu.cn%2Fspace%2Fapi%2Fbox%2Fstream%2Fdownload%2Fall%2FboxcnTxpr7Dl0pnfMKDcuvEaGid%2F%3Fmount_node_token%3DdoxcnQqIA6EKiYAk2EhqfL2gTKd%26mount_point%3Ddocx_image","file_token":"boxcnTxpr7Dl0pnfMKDcuvEaGid","image_type":"image/jpeg","size":100681,"comments":[]}]}"><span class="p"><img src="https://info.compassedu.hk/sucai/content/1657867730937/1657867730937.png" width="807" height="604" /></span></div> <div class="ace-line ace-line old-record-id-doxcn6cQckgMCEiYeSOCnUOSgEc" style="text-align: justify;"><span class="h6">中大機(jī)械與自動(dòng)化工程學(xué)系張立教授（中）的研究小組與中大計(jì)算機(jī)科學(xué)與工程學(xué)系竇琪教授（右二）合作。</span></div> <div class="ace-line ace-line old-record-id-doxcnIOOOYuO2WqgosxHyaMRLvd" style="text-align: justify;"><span class="p"> </span></div> <div class="ace-line ace-line old-record-id-doxcne8Gy2aicYaAe45wMn4gqMg" style="text-align: justify;"><span class="p">研究結(jié)果已刊登于國(guó)際學(xué)術(shù)期刊《Nature Machine Intelligence》，全文請(qǐng)參閱：<a href="https://www.nature.com/articles/s42256-022-00482-8" target="_blank" rel="noopener">https://www.nature.com/articles/s42256-022-00482-8</a>。</span></div> </div>

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